KR102152640B1 - Holder and walking aid robot having the same - Google Patents

Abstract

According to an embodiment, the holder may be easily mounted on the user's body by applying tension to the cable. The inner surface of the holder in contact with the user's body allows uniform pressure to be transmitted to the user's body so that the user does not feel uncomfortable by the contact surface with the holder.

Description

Holder and walking aid robot including the same {Holder and walking aid robot having the same}

The disclosed technology relates to a holder capable of uniformly transmitting a force over a large area, and a walking aid robot including the same.

The walking aid robot is used as an auxiliary device that assists with decreased muscle strength and weight depending on the field in which it is used, or enhances the user's muscle strength and supports the load of heavy objects for work, etc. It can also be used as a device.

According to the holder according to the disclosed embodiment and the walking aid robot including the same, a uniform force can be transmitted on a contact surface with a body through a holder made of a plurality of links.

The holder according to the disclosed embodiment is a holder that can be mounted on a user's body, comprising: a link assembly having a plurality of links connected to surround the user's body; A cable mounted on the link assembly and configured to change an angle formed by one link included in the link assembly and another link adjacent to the other link by a variable tension; And a holder body on which one side of the cable is mounted.

The holder body includes an operation unit capable of varying the tension applied to the cable by extending or shortening the cable.

When the cable is shortened by the manipulation of the operation unit, the tension of the cable increases and the angle between adjacent links decreases.

When the control unit is operated to extend the length of the cable, the angle between adjacent links increases.

One side of the cable is fixed to a shaft provided in the holder body, and a gear part is connected to the shaft.

The gear unit rotates by receiving a driving force from the operation unit so that the cable is wound or unwound on the shaft, thereby shortening or extending the cable.

The holder body is further provided with a locking part that interferes with the operation of the gear part connected to the shaft,

The locking part includes a locking gear that can be selectively engaged with the gear part.

When the locking gear meshes with the gear portion, rotation of the gear portion in a specific direction is interfered.

When the locking gear is engaged with the gear part, the gear part interferes with rotation in a direction in which the cable is released from the shaft.

When the state in which the locking gear is engaged with the gear portion is released, the gear portion rotates in a clockwise or counterclockwise direction, so that the cable may be wound or released on the shaft.

The plurality of links are pivotally connected by pins.

And a wire passing through the link assembly and maintaining the shape of the link assembly.

The distance between the straight line extending in the direction in which the pin is extended and the cable is provided so as to become closer from the side of the manipulation unit toward the end side of the link assembly.

The plurality of links are connected by an elastic panel.

The distance between the panel and the cable is provided so as to become closer from the side of the operation unit toward the end side of the link assembly.

The link assembly is connected to the left and right sides of the operation unit, respectively.

A walking assistance robot according to an embodiment disclosed is a walking assistance robot that is mounted on a user's body to assist the user's walking, wherein the walking assistance robot includes: a frame having a plurality of links connected to be in close contact with the user's body; And a holder for mounting the frame on the user's body, wherein the holder includes: a holder body mounted on the frame; A link assembly to which a plurality of links are connected and extending from the holder body; And a cable that is mounted on the link assembly and is extended or shortened to change the curvature of the link assembly.

One side of the cable is fixed to a shaft provided in the holder body, and an operation unit capable of rotating the shaft is provided in the holder body.

When the shaft is rotated in one direction, the cable is wound around the shaft to shorten the length of the cable, and when the shaft is rotated in the other direction, the cable is released from the shaft and the length of the cable is extended.

The holder body is provided with a locking portion that interferes with rotation of the shaft in another direction.

The locking unit may include a locking switch, and a state in which the locking unit is interfering with the shaft may be released by operating the locking switch.

A fixing pin is mounted on the link located at the end of the link assembly, and the position of the cable in the link is fixed by the fixing pin.

The plurality of links are pivotally connected by pins, and a wire having elasticity is mounted on the plurality of links.

The plurality of links are connected by elastic panels.

The holder according to the disclosed embodiment is a holder mounted on a walking aid robot, comprising: a link assembly to which a plurality of links are connected to wrap a user's body; A holder body for mounting the link assembly to the walking aid robot; A cable that connects a plurality of links constituting the link assembly and allows the link assembly to be bent by a variable tension; An operation unit mounted on the holder body and capable of varying the tension applied to the cable by extending or shortening the cable; And a locking unit that interferes with the operation of the operation unit in a direction in which the cable extends.

In the link assembly, the minimum distance between the cable and the inner side of each link is the same.

The plurality of links are pivotally connected by pins passing through two adjacent links.

The minimum distance between the pin and the cable becomes closer from the holder body toward the end of the link assembly.

The link assembly is equipped with an elastic object connecting the plurality of links.

According to the disclosed embodiment, the holder can be easily mounted on the user's body by applying tension to the cable. It is possible to prevent the user from feeling uncomfortable on the contact surface with the holder over the entire inner surface of the holder in contact with the user's body.

1 is a conceptual diagram for explaining the concept of the disclosed invention.
2 is a view for explaining a concept in which the force applied by the holder is distributed and transmitted to the body.
3 is a view showing a walking aid robot according to an embodiment disclosed.
4 and 5 are views showing a part of the walking aid robot disclosed in FIG. 3.
6 is an exploded perspective view of a holder included in the walking aid robot according to an embodiment disclosed.
7 is a view showing a wire disposed in the walking aid robot according to an embodiment disclosed.
8 is a view showing a link constituting a holder according to an embodiment disclosed.
9 is a view showing an operation state of the holder according to the disclosed embodiment.
10 is an exploded perspective view of a holder body according to the disclosed embodiment.
11 is a diagram illustrating a state in which a second gear part is locked according to the disclosed embodiment.
12 is a diagram illustrating a state in which a second gear portion is unlocked according to the disclosed embodiment.
13 is a conceptual diagram for explaining another concept of the disclosed invention.
14 is a view showing a holder according to another embodiment.
15 is a view showing a link and a cable according to another embodiment.
16 is a view showing an operation of a holder according to another embodiment.

Hereinafter, a holder according to an embodiment and a walking aid robot including the same will be described in detail with reference to the drawings.

1 is a conceptual diagram for explaining the concept of the disclosed invention.

Referring to Fig. 1, the disclosed invention relates to a holder 5 that can be mounted on a specific part of the body. The holder 5 may be provided with a plurality of links pivotally connected. A plurality of links can be pivotally connected by pins 6.

The holder 5 may be provided so that a plurality of links surround the body by a tension applied to the cable 7. The cable 7 may be provided to pass through a plurality of links. One end of the cable 7 may be fixed to a link provided at the end of the holder 5. Tension can be applied to the cable 7 through the other end of the cable 7. When tension is applied to the cable 7, the plurality of links can be pulled to surround the body by the cable 7. The angle θ1 formed by the inner surface of the adjacent link before the tension is applied to the cable 7 may be greater than the angle θ2 formed by the inner surface of the adjacent link after the tension is applied to the cable 7.

For example, the plurality of links constituting the holder 5 includes a first link 5a and a second link 5b. The first link 5a and the second link 5b may be pivotably connected by a pin 6. The cable 7 may be provided to pass through a plurality of links including the first link 5a and the second link 5b. At this time, the minimum distance between the cable 7 and the inner surface S1 of the link is the same for all of the plurality of links. The minimum distance (W1) between the pin 6 and the cable 7 connecting a link located farther from the driving source providing tension to the cable 7 with an adjacent link is a pin connecting a link located close from the driving source with an adjacent link ( It may be closer than the minimum distance (W2) between 6) and the cable (7). At this time, the pin 6 of the link may be located on the outer surface S2 side of the link.

One side of the cable 7 may be fixed to a link provided at the end of the holder 5. When the other side of the cable 7 is pulled by the user's manipulation, the plurality of links may receive driving force to surround the user's body.

When a plurality of links are pulled by the cable 7 to surround the user's body, the inner surface of each link may press the user's body. At this time, the force applied by the inner side of each link to the user's body may be distributed and transmitted. At this time, the inner side of the link may transmit a uniform pressure P to the user's body. As a result, even if the holder 5 is mounted on the user's body, discomfort due to the concentration of pressure when transmitting force may be eliminated.

The pin 6 mounted on the link and the minimum distance W1 between the cable 7 and the pin 6 mounted on the link become closer as they go from the other side of the cable 7 to the pin by the force exerted on the user's body. The moment at (6) and the moment at the pin 6 due to the tension applied to the cable 7 can be balanced.

2 is a view for explaining a concept in which the force applied by the holder is distributed and transmitted to the body.

2, at least a portion of the holder 5 transmits a force F to the user's body. F is toward the center point O located inside the body of the user where the holder 5 is mounted.

In a part of the holder 5 having a width of 2w, the distance from the inner surface S1 of the holder 5 to the center point O may be referred to as r. For example, when the holder 5 is mounted on the user's thigh, r may be the radius of the user's thigh. The angle of the sector formed by the holder 5 around the center point O is θ.

The minimum distance from the inner surface (S1) of the holder 5 in contact with the user's body to the cable 7 is called thick, and the minimum distance from the cable 7 to the pin 6 can be called c.

When F is transmitted to the user's body throughout the holder (5), the pressure transmitted by the holder (5) to the user's body is σ, and the tension of the cable (7) mounted on the holder (5) is called T. I can.

The force (F) applied by the holder 5 to the user's body may be summarized as follows.

①

In the pin 6, the moment caused by the tension T of the cable 7 is in equilibrium with the moment caused by the force F applied by the holder 5 to the user's body, and thus can be arranged as follows.

②

Substituting Equation ① for F into ②, it is as follows.

This is summarized for c as follows.

③

The minimum distance from the cable 7 to the pin 6 may be provided so that the inner surface of the holder 5 can transmit the force F to the user's body, satisfying the equation for c. The minimum distance from the cable 7 to the pin 6 may be closer to the drive source that transmits the tension to the cable 7.

The minimum distance from the cable (7) to the pin (6) is provided as shown in ③, so that the force F exerted by the holder (5) on the user's body by the tension of the cable (7) passes through the entire inner surface of the holder (5). It can be distributed and delivered. Accordingly, it is possible to eliminate discomfort felt by the user due to uneven pressure by the holder 5.

3 is a view showing a walking aid robot according to an embodiment disclosed.

Referring to FIG. 3, the walking aid robot 1 according to the disclosed embodiment may include frames 10 and 20 extending in the length direction of the user's leg to support the user's load. The frames 10 and 20 include a first frame 10 supporting the user's thigh and a second frame 20 supporting the user's calf.

At least one of the first frame 10 or the second frame 20 may be formed by connecting a plurality of links. The first frame 10 may be flexibly bent according to the bending of the femur to be mounted. The second frame 20 may be flexibly bent according to the bending of the calf to be mounted. The first frame 10 or the second frame 20 may be flexibly bent and stably support a user's load.

A waist fixing device 30 fixed to the user's waist may be connected to the first frame 10. The first frame 10 may be pivotally connected to the waist fixing device 30 by a hip joint 40. The first frame 10 and the second frame 20 may be pivotally connected by a knee joint 50. A foot structure 70 fixed to a user's foot may be connected to the second frame 20. The second frame 20 and the foot structure 70 may be pivotally connected by an ankle joint 60.

The walking assist robot 1 may further include a driving source providing driving force to the hip joint 40 and the knee joint 50 and a control unit for controlling the operation of the walking assist robot 1. The foot structure 70 is equipped with a sensor, and the user's motion information detected by the sensor is transmitted to the control unit, and the control unit controls the motion of the hip joint 40 or the knee joint 50 using the transmitted information. I can.

The first frame 10 can be pivoted with 3 degrees of freedom. The first frame 10 may be pivoted by shortening or extending the wire 31. A wire 31 is wound around the pulley 33 connected to the driving source, and the wire 31 may be connected to the first frame 10 through the hip joint 40. For example, when the driving source rotates the pulley 33 so that the wire 31 is wound around the pulley 33, the first frame 10 may be pivoted about the y-axis. When the driving source rotates the pulley 33 so that the wire 31 is released from the pulley 33, the first frame 10 can be pivoted about the y-axis in the opposite direction to the previous case.

The gluteal joint 40 may be rotated about the x axis by the hinge device 35. When the hip joint 40 is rotated by the hinge device 35, the first frame 10 connected to the hip joint 40 may be pivoted about the x-axis.

A sliding part 36 may be provided on the rear surface of the hinge device 35, and a rail part 37 may be provided in the waist fixing device 30. The rail part 37 may extend in the x-axis direction, which is the user's waist circumferential direction. According to the user's motion, the sliding part 36 may slide along the rail part 37. As the sliding part 36 slides along the rail part 37, the hip joint 40 and the first frame 10 connected to the hinge device 35 may be pivoted about the z-axis.

As such, the first frame 10 may be pivoted with three degrees of freedom by the hip joint 40, the hinge device 35 and the rail part 37. The movement of one degree of freedom, which is pivoted around the hip joint 40 using the wire 31, is performed by receiving power, but the remaining two degrees of freedom may be performed without power and according to the user's movement.

The second frame 20 may be pivoted with at least one degree of freedom with respect to the first frame 10. The second frame 20 pivotably connected to the first frame 10 by the knee joint 50 may be pivoted by shortening or extending the wire 32. A wire 32 is wound around the pulley 34 connected to the driving source, and the wire 32 may be connected to the second frame 20 through the knee joint 50.

For example, when the driving source rotates the pulley 34 so that the wire 32 is wound around the pulley 34, the second frame 20 may be pivoted about the y-axis. When the driving source rotates the pulley 34 and the wire 32 is released from the pulley 34, the second frame 20 may be pivoted about the y-axis in the opposite direction to the previous case.

The foot structure 70 may be pivoted with 3 degrees of freedom relative to the second frame 20. The foot structure 70 and the second frame 20 may be pivotally connected by an ankle joint 60. The foot structure 70 or the second frame 20 may be pivoted around the ankle joint 60 with no power according to the user's movement.

A first holder 80 may be connected to the first frame 10. The first holder 80 may be provided to surround the user's thigh. The first holder 80 may mount the first frame 10 on the user's thigh. The first holder 80 may be provided by connecting a plurality of links 82.

A second holder 90 may be connected to the second frame 20. The second holder 90 may be provided to surround the user's calf. The second holder 90 may mount the second frame 20 on the user's calf. The second holder 90 may be provided by connecting a plurality of links 92.

At least one of the first frame 10 or the second frame 20 may be provided by pivotally connecting a plurality of links. Accordingly, the first frame 10 or the second frame 20 may be in close contact with the user's body. For example, when the first frame 10 is provided with a plurality of links pivotably connected, the plurality of links are pivoted at an appropriate angle according to the bending of the thigh to which the first frame 10 is in contact with the thigh. Can be.

The plurality of links constituting the first frame 10 or the second frame 20 each include a first coupling portion and a second coupling portion. The first coupling portion may be formed to protrude from one side of the link. The second coupling portion may be formed to protrude from the other side opposite to the one side where the first coupling portion is formed. The first coupling part of any one of the plurality of links may be pivotally connected to the other second coupling part by two pins.

A guide portion through which two pins are inserted and guided may be formed in the first coupling portion. The guide portion includes a first guide portion and a second guide portion. The first guide portion may be provided in a curved shape having a lowest point or a highest point. The second guide may be provided in a straight line in the vertical direction. The two pins are guided by being inserted into the first guide portion or the second guide portion, respectively, and may be supported by an inner wall of the first guide portion or an inner wall of the second guide portion. In the plurality of links, two pins are guided by a guide portion, so that rotational motion and linear motion in the vertical direction can be simultaneously performed.

Through the above structure, the shape of the curve of the first guide is appropriately set so that the overall height of the first frame 10 or the second frame 20 constituting the plurality of links is not changed even if the plurality of links are pivoted. can do. In addition, since the pins connecting the links are supported by the inner wall of the guide part, buckling can be prevented even if a plurality of links are pivoted.

4 and 5 are views showing a part of the walking aid robot disclosed in FIG. 3.

4 and 5, the holders 80 and 90 of the walking aid robot 1 according to the disclosed embodiment may be connected to the frames 10 and 20. Hereinafter, an embodiment of the first holder 80 connected to the first frame 10 will be described. The second holder 90 connected to the second frame 20 may be provided similarly to the first holder 80. The first holder 80 includes a holder body 81 and a plurality of links 82 connected to the holder body 81. The holder body 81 may form a part of the frame 10 to which the first holder 80 is connected.

The plurality of links 82 may be connected to be orthogonal to the frame 10. When the frame 10 extends in the vertical direction along the user's leg, the plurality of links 82 may be connected orthogonally to the frame 10 so as to wrap the user's leg.

For example, the holder body 81 may be connected to the first frame 10. The first frame 10 may include a first frame link 11 and a second frame link 12. The holder body 81 may be one of a plurality of links that are disposed between the first frame link 11 and the second frame link 12 to form a part of the first frame 10. The holder body 81 is pivotably connected to the first frame 10, and is pivoted at an appropriate angle according to the bending of the thigh to which the first frame 10 comes into contact, so that the first frame 10 can be in close contact with the thigh. To be.

The holder body 81 includes a first coupling portion 810 and a second coupling portion 811 provided at a position opposite to the first coupling portion 810. The first coupling part 810 may be formed to protrude from one side of the holder body 81. The second coupling portion 811 may be formed to protrude from the other side of the holder body 81. Similarly, a first coupling portion 110 may protrude from one side of the first frame link 11 and a second coupling portion 111 may protrude from the other side. A first coupling portion 120 may protrude from one side of the second frame link 12 and a second coupling portion 121 may protrude from the other side.

The first coupling portion 810 protruding from one side of the holder body 81 may be pivotably connected by the second coupling portion 111 of the first frame link 11 and the pins 112 and 113. The second coupling portion 811 protruding from the other side of the holder body 81 may be pivotably connected to the first coupling portion 120 of the second frame link 12 and the pins 124 and 125.

The holder body 81 may perform rotational motion and linear motion in the vertical direction with respect to the first frame link 11. At this time, the pins 112 and 113 penetrating the holder body 81 and the first frame link 11 may be guided by the guide portions 810a and 810b formed on the first coupling portion 810 of the holder body 81. . The guide portions 810a and 810b may include a first guide portion 810a having a curved shape including a lowest point or a highest point, and a second guide portion 810b having a straight line extending in the vertical direction. The pins 112 and 113 may be guided by being inserted into the first guide part 810a and the second guide part 810b, respectively.

Similarly, the holder body 81 may perform a rotational motion and a linear motion in the vertical direction with respect to the second frame link 12. At this time, the pins 124 and 125 penetrating the holder body 81 and the second frame link 12 are guided by the guide portions 120a and 120b formed on the first coupling portion 120 of the second frame link 12. I can. The guide portions 102a and 120b may include a first guide portion 120a having a curved shape including a lowest point or a highest point, and a second guide portion 120b having a straight line extending in the vertical direction. The pins 124 and 125 may be guided by being inserted into the first guide portion 120a and the second guide portion 120b, respectively.

In the first coupling portion 110a of the first frame link 11, a curved first guide portion 110a having a lowest point or a highest point and a second guide portion 110b having a straight line extending in the vertical direction are formed. I can. The first frame link 11 is formed by pins penetrating the second coupling portion of the other frame link and the first guide portion 110a or the second guide portion 110b located on the upper side adjacent to the first frame link 11. ) May be provided to perform rotational motion and linear motion in the vertical direction with respect to another link adjacent to the upper portion of the first frame link 11.

In the case of the second frame link 12, similar to the case of the first frame link 12, adjacent to the second coupling portion 121 and the second frame link 12 of the second frame link 12 The rotational movement and the vertical movement by pins passing through the curved first guide portion having the highest point and the lowest point formed in the first coupling portion of the other frame link located at the bottom or the second guide portion of a straight line extending in the vertical direction. You can do linear motion.

6 is an exploded perspective view of a holder included in the walking aid robot according to the disclosed embodiment, FIG. 7 is a view showing a wire disposed in the walking aid robot according to the disclosed embodiment, and FIG. 8 is a disclosed embodiment It is a view showing the link constituting the holder according to, Figure 9 is a view showing the operation of the holder according to the disclosed embodiment.

6 to 9, the walking assist robot 1 according to the disclosed embodiment includes a first holder 80 for mounting the walking assist robot 1 on a user's body. The first holder 80 includes a holder body 81 and a plurality of links 82 connected to the holder body 81. The plurality of links 82 may be pivotally connected and may be provided to wrap the user's body by manipulation of the user.

A connection to which the plurality of links 82 are connected may be referred to as a link assembly. The link assembly may be provided on both left and right sides around the holder body 81. A cable 85, which will be described later, is mounted on the link assembly, and the curvature of the link assembly may be varied by a tension applied to the cable 85. To further explain, the link assembly may be provided to be bent by the tension applied to the cable 85. For example, before tension is applied to the cable 85, the angle θ3 formed by the inner surface of the adjacent link may be greater than the angle θ4 formed by the inner surface of the adjacent link after the tension is applied to the cable 85. have.

The link assembly is bent so that the inner surface may be in close contact with the user's body. The user may appropriately adjust the pressure applied by the inner side of the link assembly to the user's body by varying the tension applied to the cable 85. A pad made of silicone or rubber is attached to the inner side of the link assembly that is in contact with the user's body by the cable 85, so that the inner side of the link assembly can eliminate the inconvenience caused by friction between the user's body. I can.

When the first holder 80 is mounted to surround the user's body, the inner side of the link assembly is applied to the user's body by tension by the cable 85 over the entire inner side of the link assembly in contact with the user's body. The losing force can be distributed and transmitted. By dispersing the tension by the cable 85 and transmitting it to the user's body, a uniform pressure can be applied to the user's body. For example, the minimum distance (W2, W3) between the pin 87 and the cable 85 included in the link assembly is provided so as to get closer from the holder body 81 side to the end of the link assembly, The side may be configured to apply uniform pressure to the user's body by dispersing the force applied to the user's body and transmitting it to the user's body.

In detail, the shortest distance (W2) between the cable 85 and the pin 87 connecting the link located on the side of the holder body 81 and the adjacent link is the pin 87 connecting the link located at the end side of the link assembly and the adjacent link. It may be located farther than the shortest distance (W3) between the and the cable (85). The shortest distance between the cable 85 and the inner surface of the link assembly may be uniformly provided throughout the link assembly.

The first holder 80 may further include a cable 85. The cable 85 can pass through the link assembly. The cable 85 includes a first cable 85a passing through the link assembly provided on the left side of the holder body 81 and a second cable 85b passing through the link assembly provided on the right side of the holder body 81. Can include.

The cable 85 may extend from the link 82c located at the end of the link assembly to the holder body 81 and pass through the plurality of links 82. When the link assembly is provided on both left and right sides of the holder body 81, the cables 85 may be provided in the link assembly provided on the left side of the holder body 81 and the link assembly provided on the right side of the holder body 81, respectively. have. The cable 85 may pass through the center of the side of each of the links 82 included in the link assembly.

According to one embodiment, one side of the cable 85 may be fixed to the link 82c located at the end of the link assembly, and the other side of the cable 85 may be fixed to the holder body 81 side. In detail, the other side of the cable 85 may be connected to the operation unit 83 provided on the holder body 81.

According to another embodiment, one side of the cable 85 is fixed to one side of the holder body 81, passes through the link assembly and winds the fixing pin 88 provided on the link 82c located at the end of the link assembly, It passes through the link assembly again and may extend to the holder body 81. That is, one cable 85 may reciprocate and pass through the link assembly twice. The other side of the cable 85 may be connected to the side of the manipulation unit 83 provided in the holder body 81.

According to another embodiment, a plurality of cables 85 pass through the link assembly, one side of each cable is fixed to the link 82c located at the end of the link assembly, and the other side is an operation unit provided in the holder body 81 It can be connected with the 83 side. When the cable 85 passes through the link assembly multiple times, the link assembly may be stably mounted or detached from the user's body by the user's manipulation.

The holder body 81 may be provided with an operation unit 83 capable of varying the length of the cable 85. The user manipulates the manipulation unit 83 to vary the length of the cable 85 connected to the manipulation unit 83 so that the plurality of links 82 surround the user's body or separate from the user's body. In addition, by varying the length of the cable, the contact force of the link assembly in contact with the user's body can be adjusted.

The first holder 80 may further include a wire 86. The wire 86 may be a spring wire having elasticity. Wire 86 can pass through the link assembly. The wire 86 may pass through all link assemblies provided on the left and right sides of the holder body 81. It is possible to prevent the plurality of links 82 included in the link assembly from being rapidly bent at any specific link by the wire 86. In detail, even if tension is applied to the cable 85 so that the link assembly rests the user's body, the specific link 82 may be prevented from being excessively bent by the wire 86.

For example, the wire 86 may pass through the upper or lower portion of the cable 85 around the cable 85 passing through the link assembly. A wire passing through the upper portion of the cable 85 of the link assembly may be referred to as a first wire 86a, and a wire passing through the lower portion of the cable 85 may be referred to as a second wire 86b.

The plurality of links 82 may be pivotally connected by pins 87. The plurality of links 82 may include a first link 82a and a second link 82b. Each of the first link 82a and the second link 82b may include a connecting portion 820 protruding from one side and a receiving portion 822 formed on the other side. The connection part 820 formed in the second link 82b may be inserted into the receiving part 822 formed in the adjacent first link 82a.

A pin insertion hole 821 into which the pin 87 can be inserted may be formed in the connection part 820. A pin insertion hole 823 into which the pin 87 can be inserted may be formed above or below the receiving portion 822 to penetrate to the receiving portion 822. The pin insertion hole 821 formed in the connection portion 820 may be provided to correspond to the pin insertion hole 823 formed in the receiving portion 822. The pin 87 passing through the pin insertion hole 823 formed on the side of the receiving portion 822 formed in the first link 82a is formed in the connecting portion 820 of the second link 82b received in the receiving portion 822 It may be inserted into the pin insertion hole 821. The pin 87 passes through the pin insertion hole 823 formed on the receiving portion 822 side of the first link 82a and the pin insertion hole 821 formed on the connecting portion 820 side of the second link 82b. , The first link 82a and the second link 82b may be pivotably connected around the pin 87.

A cable insertion hole 825 into which the cable 85 can be inserted may be formed in the link assembly. The cable insertion hole 825 may be formed on the side of the link 82. In detail, the cable insertion hole 825 may be formed to penetrate both opposite sides of the link 82. The cable insertion hole 825 formed in any one link constituting the link assembly may be formed to communicate with the cable insertion hole 825 formed in the other adjacent link. For example, the cable insertion hole 825 formed in the first link 82a may communicate with the cable insertion hole 825 formed in the second link 82b adjacent to the first link 82a.

When the cable 85 reciprocates and passes through the link assembly more than once, or when a plurality of cables 85 pass through the link assembly, the cable insertion hole 825 corresponds to the number of passes of the cable 85 through the link assembly. The number of can be formed. For example, when the cable 85 reciprocates and passes through the link assembly twice, each link 82 constituting the link assembly has a first cable insertion hole 825a and a second cable insertion hole 825b. Can be. The cable 85 may pass through the first cable insertion hole 825a formed in each link 82 and return through the second cable insertion hole 825b.

A fixing pin 88 for fixing the position of the cable 85 may be provided on the link 82c located at the end of the link assembly. A cable insertion hole 825 may be formed only on one side of the link 82c located at the end of the link assembly. The cable 85 passing through the first cable insertion hole 825a formed in the plurality of links 82 may be wound around a fixing pin 88 and may be changed in direction so that it may face the second cable insertion hole 825b. Tension applied to the cable 85 by the fixing pin 88 may be transmitted to the link 82c located at the end of the link assembly. Contents in which the cable 85 is fixed to the holder body 81 so that it can be extended or shortened will be described later.

Wire insertion holes 824 and 826 into which the wire 86 may be inserted may be provided in the link assembly. The wire insertion holes 824 and 826 may be formed in the plurality of links 82 included in the link assembly. The wire insertion holes 824 and 826 formed in the link 82 may be formed to communicate with the wire insertion holes 824 and 826 formed in the adjacent link.

The wire insertion hole 824 may be provided to pass through the inner wall of the receiving portion 822 provided in each link 82. Two wire insertion holes 824 may be formed, and the two wire insertion holes 824 may be disposed on the inner wall of the receiving portion 822 in the vertical direction, respectively.

The wire insertion hole 826 provided in the link 82c provided at the end of the link assembly may be exposed to the outside. When a plurality of links 82 are connected and a link assembly is provided, a wire may be inserted through the wire insertion hole 826 formed in the link 82c provided at the end of the link assembly. The wire 86 inserted through the wire insertion hole 826 may pass through the wire insertion hole 824 formed in each link 82 of the link assembly. This allows the wire 86 to be mounted on the link assembly.

10 is an exploded perspective view of a holder body according to the disclosed embodiment.

Referring to FIG. 10, the holder body 81 according to the disclosed embodiment may be provided with an operation unit 83 and a locking switch 84. The operation unit 83 and the locking switch 84 may be exposed to the outside of the holder body 81 so that the user can manipulate it.

Both sides of the holder body 81 may be provided with a receiving portion 817 or a connection portion so that the link 82 can be connected. When the accommodating portion 817 is formed in the holder body 81, the connecting portion of the link 82 adjacent to the holder body 81 may be accommodated in the accommodating portion 817. The link 82 and the holder body 81 may be pivotably connected by a pin insertion hole 814 formed on the upper side of the receiving portion 817 and a pin passing through the pin insertion hole formed at the connection portion of the link 82. have.

Cable insertion holes 816 through which the cable 85 can pass may be further formed on both sides of the holder body 81. One end of the cable 85 passing through the cable insertion hole 816 may be mounted on the side of the second gear portion 833 to be described later.

A first gear part 832 to which the manipulation part 83 is connected may be provided inside the holder body 81. When the user manipulates the manipulation unit 83, the first gear unit 832 may be provided to move together with the manipulation unit 83. For example, the operation part 83 may be provided with a fastening part 830 having a thread formed on an outer surface thereof. A fastening boss 831 having a thread formed on an inner surface forming a hole may be mounted on the first gear part 832. The fastening part 830 may pass through the first hole 812 formed in the holder body 81 and be inserted into the fastening boss 831 provided inside the holder body 81 to be fastened. Accordingly, the operation unit 83 and the first gear unit 832 may be connected to move together.

A second gear portion 833 meshed with the first gear portion 832 may be provided inside the holder body 81. When the first gear part 832 rotates, the second gear part 833 may rotate in a direction opposite to the rotation direction of the first gear part 832. For example, when the first gear portion 832 rotates in a clockwise direction, the second gear portion 833 may rotate in a counterclockwise direction. A shaft 834 to which at least one end of the cable 85 is fixed may be connected to the second gear portion 833. The shaft 834 is mounted on the second gear portion 833 and may rotate together with the second gear portion 833.

One end of the cable 85 passing through the link assembly may be fixed to the second gear portion 833 side. One end of the cable 85 may be fixed to the shaft 834 connected to the second gear portion 833. When the second gear portion 833 rotates in a specific direction, the shaft 834 may rotate together with the second gear portion 833. When the shaft 834 is rotated in a specific direction, the cable 85 fixed to the shaft 834 may be wound around the shaft 834 or the cable 85 wound around the shaft 834 may be released from the shaft 834.

When one cable 85 is provided to reciprocate the link assembly, one end of the cable 85 may be fixed to the shaft 834, and the other end of the cable 85 is one side of the holder body 81 or the holder body It may be fixed to one side of the link 82 adjacent to (81).

For example, when the user rotates the operation unit 83 in a counterclockwise direction, the first gear unit 832 rotates in a counterclockwise direction together with the operation unit 83. When the first gear portion 832 rotates in a counterclockwise direction, the second gear portion 832 may rotate in a clockwise direction. When the second gear part 832 rotates in a clockwise direction, the cable 85 may be wound around the shaft 834. When the cable 85 is wound around the shaft 834, the link assembly is bent to approach the user's body side and restrain the user's body. In this case, after the operation unit 83 is manipulated by the user, the plurality of links 82 included in the link assembly may have a smaller angle between adjacent links.

When the user turns the operation unit 83 clockwise, the second gear unit 832 rotates in the clockwise direction together with the operation unit 83. When the first gear part 832 rotates in a clockwise direction, the second gear part 832 may rotate in a counterclockwise direction. When the second gear portion 832 rotates in a counterclockwise direction, the cable 85 may be released from the shaft furnace 834. When the cable 85 is released from the shaft, the link assembly may be separated from the user's body by moving away from the user's body by the loosened cable 85. At this time, when the operation unit 83 is manipulated by the user, the plurality of links 82 included in the link assembly may increase an angle between adjacent links.

The holder body 81 may further include a locking part. The locking unit may include a locking switch 84 and a locking bar 840 connected to the locking switch 84. A locking gear 841 may be formed on one side of the locking bar 840 to selectively engage with the second gear portion 833.

The locking bar 840 may be provided inside the holder body 81. The locking switch 84 may be provided outside the holder body 81 so that the user can manipulate it. The locking switch 84 and the locking bar 840 may be combined to be movable integrally. A second hole 813 is formed in the holder body 810, and the locking switch 84 and the locking bar 840 may be coupled through the second hole 813. The second hole 813 is formed to be elongated in the vertical direction so that the switch 84 can slide along the extending direction of the second hole 813.

An elastic member 842 for applying an elastic force to the locking bar 840 may be provided under the locking bar 840. An elastic force applied by the elastic member 842 to the locking bar 840 may be directed upward.

The locking bar 840 may be provided with a locking gear 841 selectively engaged with the second gear portion 833. The locking gear 841 may be provided on the lower side of the locking bar 840.

Hereinafter, a structure in which the operation of the operation unit 83 is restricted or released by the locking unit will be described.

11 is a view showing a state in which the second gear unit is locked according to the disclosed embodiment, and FIG. 12 is a view showing the state in which the second gear unit is unlocked according to the disclosed embodiment.

11 and 12, a locking gear 841 selectively engaged with the second gear portion 833 may be provided in the locking bar 840 according to the disclosed embodiment. In the absence of external force, the locking bar 840 is pushed upward by the elastic member 842 so that the locking gear 841 and the second gear portion 833 are engaged.

As illustrated in FIG. 11, in a state in which the second gear portion 833 is engaged with the locking gear 841, the second gear portion 833 may rotate in a clockwise direction c1. When the second gear portion 833 rotates clockwise (c1), the second gear portion 833 passes through the locking gear 841 in order. The teeth provided in the second gear portion 833 may push the locking bar 840 downward while passing through the teeth provided in the locking gear 841 in order. After the teeth provided in the second gear part 833 pass through the teeth provided in the locking gear 841, the locking bar 840 can be returned to the top again by the elastic member 842 provided at the lower part. . As the second gear portion 833 rotates, the locking bar 840 is pushed downward, and the locking bar 840 may repeat an operation of returning to the top by the elastic member 842.

In this way, since the second gear portion 833 is in a state of being rotatable in the clockwise direction c1, the user rotates the operation portion 83 counterclockwise so that the cable 85 is wound around the shaft 834 May wrap around the user's body and restrict it. Accordingly, the first holder 80 may be mounted on the user's body.

In a state in which the second gear portion 833 is engaged with the locking gear 841, the second gear portion 833 cannot rotate in the counterclockwise direction c2. In a state in which there is no external force, the upper surface and the side surface of the locking bar 840 are disposed adjacent to the inner wall of the holder body 81 so that a space for the locking bar 840 to move upward or laterally is not provided.

Even if the second gear part 833 tries to rotate in the counterclockwise direction (c2), since there is no space for the locking bar 840 to move upward or laterally, the teeth provided in the second gear part 833 are the locking gear 841 Since it does not pass through the teeth provided in the second gear portion 833 is interfered by the locking gear 841, it cannot rotate. Therefore, even if the user rotates the control unit 83 in the clockwise direction, the second gear unit 833 cannot rotate in the counterclockwise direction (c2), so that the cable 85 wound around the shaft 834 cannot be released. Placed on

Accordingly, after the user mounts the holder 80 so that the link assembly can apply an appropriate pressure to the body, the cable 85 may be fixed so that it is not released from the shaft 834 unless the locking portion is operated. As a result, the first holder 80 is stably mounted on the user's body, so that the first holder 80 may not be loose or separated from the user's body even when pressure is applied to the first holder 80 when the user is walking. have.

As shown in Fig. 12, when the user applies a force greater than the elastic force of the elastic member 842 to lower the locking switch 84, the locking bar 840 goes down and the second gear portion 833 And the locking gear 841 may be spaced apart.

Since the second gear portion 833 is not interfered with by the locking gear 841, it can be rotated clockwise (c1) and counterclockwise (c2). The user can rotate the operation unit 83 clockwise while the locking switch 84 is lowered. When the operation unit 83 rotates in the clockwise direction, the second gear unit 833 rotates in the counterclockwise direction c2 so that the cable 85 wound around the shaft 834 may be released from the shaft 834. When the cable 85 is released from the shaft 834, the length of the cable 85 is lengthened, so that the link assembly may be separated from the user's body. Accordingly, the first holder 80 can be separated from the body.

When the force applied to the locking switch 84 is removed, the locking bar 840 is pushed upward by the elastic force of the elastic member 842, as shown in FIG. 10, the locking gear 841 and the second gear The portion 833 may be re-engaged.

13 is a conceptual diagram illustrating another embodiment of the disclosed invention.

13, the invention according to another embodiment of the disclosed invention relates to a holder 5'that can be mounted on a specific part of the body. The holder 5'is provided by connecting a plurality of links by an elastic panel 6'. A plurality of links connected by the panel 6'may be referred to as a link assembly.

The holder 5'comprises a cable 7'. The cable 7'may be provided to pass through a plurality of links. The holder 5 ′ may be provided so that a plurality of links may wrap around the body by a tension applied to the cable 7 ′. One end of the cable 7'may be fixed to a link provided at the end of the holder 5'. Tension can be applied to the cable 7'through the other end of the cable 7'. When tension is applied to the cable 7 ′, the plurality of links may be pulled to surround the body by the cable 7 ′. Before tension is applied to the cable (7'), the angle (θ5) formed by the inner surface of the adjacent link may be greater than the angle (θ6) formed by the inner surface of the adjacent link after the tension is applied to the cable (7'). have.

For example, the plurality of links constituting the holder 5'includes a first link 5a' and a second link 5b'. The first link 5a' and the second link 5b' adjacent to the first link 5a' may be connected by an elastic panel 6'. The cable 7'may pass through the first link 5a' and the second link 5b'. One end of the cable 7'may be fixed to one side of the link assembly. When the other end of the cable 7'is pulled, a tension T is applied to the cable 7'. The link assembly including the first link 5a' and the second link 5b' may receive a driving force to surround the user's body by the tension T applied to the cable 7'.

When the link assembly is pulled by the cable 7'and wraps around the user's body, the inner surface of each link may press the user's body. In this case, the force applied by the inner side of each link to the user's body may be distributed. The inner side of each link may transmit a uniform pressure P to the user's body. Accordingly, even if the holder 5'is mounted on the user's body, discomfort due to uneven pressure transmission may be eliminated.

It may be provided so that the minimum distance between the panel 6 ′ and the cable 7 ′ mounted on the link becomes closer as the cable 7 goes from the other side to the one side. In other words, the minimum distance W5 between the panel 6'and the cable 7'connected to the link 5a' located on the other side of the cable 7'is the link 5b' located on one side of the cable 7' It may be provided larger than the minimum distance (W6) between the panel (6') and the cable (7') connected to. As a result, the moment in the panel 6'due to the force applied to the user's body on the inner side of each link and the moment in the panel 6'due to tension by the cable 7'can be balanced.

14 is a view showing a holder according to another embodiment of the disclosed invention, FIG. 15 is a view showing a link and a cable of a holder according to another embodiment of the disclosed invention, and FIG. 16 is a view showing another embodiment of the disclosed invention. It is a view showing the operation of the holder according to.

The holder 100 according to another embodiment of the invention disclosed in FIGS. 14 to 16 includes a holder body 101 and a plurality of links 102. A plurality of links 102 may be connected by an elastic panel 103.

The panel 103 may serve as a pin 87 and a wire 86 connecting the link 82 in the holder 80 according to an exemplary embodiment. That is, the panel 103 connects a plurality of links 102 and allows the plurality of links 102 to maintain the shape of the link assembly even when tension is applied to the cable 106 to be described later.

A combination of the plurality of links 102 and the panel 103 may be referred to as a link assembly. The link assembly may be connected to the holder body 101. The link assembly may be connected to both left and right around the holder body 101. A pad made of silicone or rubber is mounted on the inner side of the link assembly that is in contact with the user's body, so that the user can improve the fit.

The link assembly may include cables 106 passing through a plurality of links 102. Cable 106 passes through a plurality of links 102. The cable 106 may pass through the plurality of links 102 multiple times. For example, one cable 106 can pass twice, reciprocating the link assembly.

The curvature of the link assembly may be varied by the tension applied to the cable 106. The angle θ7 formed by the inner surface of the adjacent link before the tension is applied to the cable 106 may be greater than the angle θ8 formed by the inner surface of the adjacent link after the tension is applied to the cable 106.

The minimum distance between the cable 106 and the inner side of the link may be the same throughout the link assembly. When tension is applied to the cable 106 and the holder 100 is mounted on the user's body, the force exerted on the user's body by the link assembly in contact with the user's body is distributed and uniformly applied to the user's body over the entire contact area. It can be arranged to apply pressure.

For example, the minimum distance W7 from the panel 103 located on the holder body 101 side to the cable 106 is the minimum distance W7 from the panel 103 located on the end side of the link assembly to the cable 106 ( It can be provided farther than W8). In this way, the force due to the tension of the cable 106 may be distributed and transmitted so that one surface of each of the plurality of links surrounding the user's body may apply a uniform pressure to the user's body.

A fixing pin 108 is provided on the link 102b located at the end of the link assembly. The cable 106 extending from the holder body 101 may pass through the link assembly, rotate the fixing pin 108, and pass through the link assembly again to extend toward the holder body 101.

One side of the cable 106 may be fixed to the holder body 101 or a link 102a adjacent to the holder body 101. The other side of the cable 106 may be fixed to a shaft provided in the holder body 101.

The holder body 101 includes an operation unit 104 that can be operated by a user to shorten or extend the length of the cable 106. The holder body 101 includes a locking portion for locking the shaft side around which the cable 106 is wound so that the cable 106 can be selectively extended. The holder body 101 may be provided with a locking switch 105 capable of operating a locking portion.

As for the configuration and operation of the holder body 101 in relation to the extension or shortening of the cable 106 and the locking unit by the operation unit 104, the description will be omitted since the case of the embodiment may be similarly applied.

In this way, a plurality of links may be pivotally connected, and the holder may be mounted on the user's body or detached from the user's body by shortening or extending the cable. By extending or shortening the cable, the degree to which the link assembly is pressed according to the size of the user's body can be adjusted, so that inconvenience in wearing due to different sizes of the body on which the holder is mounted can be eliminated. In addition, by varying the distance between the cable of the link assembly and the pivot unit, the force exerted on the user's body by the plurality of links can be distributed and transmitted by the tension of the cable. User discomfort due to uneven pressure when mounting the holder by distributing and transmitting the force exerted by a plurality of links on the user's body to make the inner side of the link assembly in contact with the user's body uniform the amount of pressure exerted on the user's body Let the ship be resolved.

1: walking assist robot 80: holder
81: holder body 82: link
83: control panel 84: locking switch
85: cable 86: wire
87: pin 832: first gear part
833: second gear part 834: shaft
840: locking bar 841: locking gear
100: holder 101: holder body
102: link 103: panel
104: control panel 105: locking switch
106: cable

Claims (30)

In the holder that can be mounted on the user's body,
A link assembly having a plurality of links connected to each other to surround the user's body;
A cable mounted on the link assembly and configured to change an angle formed by one link included in the link assembly and another link adjacent to the other link by a variable tension; And
Includes; a holder body on which one side of the cable is mounted,
A holder provided in which a minimum distance between an outer surface of the link located on the holder body side and a cable is greater than a minimum distance between an outer surface of the link located at the end side of the link assembly and a cable. The method of claim 1,
The holder body includes an operation unit capable of varying a tension applied to the cable by extending or shortening the cable. The method of claim 2,
When the control unit is operated to shorten the cable, the tension of the cable increases and the angle between adjacent links decreases. delete The method of claim 2,
One side of the cable is fixed to a shaft provided in the holder body, a holder to which a gear unit is connected to the shaft. The method of claim 5,
A holder for shortening or extending the cable by rotating the gear part by receiving a driving force from the operation part so that the cable is wound or unwound on the shaft. The method of claim 6,
The holder body further provided with a locking part interfering with the operation of the gear connected to the shaft. The method of claim 7,
The locking portion holder including a locking gear that can be selectively engaged with the gear portion. The method of claim 8,
When the locking gear meshes with the gear part, the rotation of the gear part in a specific direction is interfered with. The method of claim 9,
When the locking gear is engaged with the gear part, the gear part is a holder that interferes with rotation in a direction in which the cable is released from the shaft. The method of claim 8,
When the locking gear engages with the gear part is released, the gear part rotates in a clockwise or counterclockwise direction so that the cable can be wound or unwound on the shaft. The method of claim 1,
The plurality of links is a holder pivotally connected by a pin. The method of claim 12,
A holder including a wire passing through the link assembly and maintaining the shape of the link assembly. The method of claim 12,
A holder provided such that the minimum distance between the pin and the cable becomes closer from the holder body side toward the end side of the link assembly. The method of claim 1,
The plurality of links is a holder connected by an elastic panel. The method of claim 1,
In the plurality of links, the minimum distance between the cable and the inner side of each link is the same holder. The method of claim 2,
The link assembly is a holder connected to each of the left and right sides of the operation unit. As a walking aid robot that is installed on the user's body to assist the user's walking,
The walking assist robot may include a frame provided to be in close contact with a user's body by connecting a plurality of links; And
Including; a holder for mounting the frame to the body of the user,
The holder may include a holder body mounted on the frame;
A link assembly to which a plurality of links are connected and extending from the holder body; And
Includes; a cable that is mounted on the link assembly and is extended or shortened to change the curvature of the link assembly,
A walking aid robot in which the minimum distance between the cable and the outer surface of the link located at the side of the holder body is greater than the minimum distance between the cable and the outer surface of the link located at the end side of the link assembly. The method of claim 18,
One side of the cable is fixed to a shaft provided in the holder body, the walking aid robot having a manipulation unit capable of rotating the shaft in the holder body. The method of claim 19,
When the shaft rotates in one direction, the cable is wound around the shaft to shorten the length of the cable, and when the shaft rotates in the other direction, the cable is released from the shaft and the length of the cable is extended. The method of claim 20,
In the holder body, the walking aid robot is provided with a locking part that interferes with the rotation of the shaft in another direction. The method of claim 21,
The locking unit includes a locking switch, and a walking aid robot capable of releasing a state in which the locking unit is interfering with the shaft by operating the locking switch. The method of claim 18,
A fixing pin is mounted on the link located at the end of the link assembly, and the position of the cable in the link is fixed by the fixing pin. The method of claim 18,
The plurality of links are pivotably connected by pins, and a walking aid robot in which a wire having elasticity is mounted on the plurality of links. The method of claim 18,
The plurality of links is a walking aid robot connected by a panel having elasticity. In the holder mounted on the walking aid robot,
A link assembly to which a plurality of links are connected to surround a user's body;
A holder body for mounting the link assembly to the walking aid robot;
A cable that connects a plurality of links constituting the link assembly and allows the link assembly to be bent by a variable tension;
Includes; a locking unit that interferes with the operation of the operation unit in the direction in which the cable extends,
A holder provided in which a minimum distance between an outer surface of the link located on the holder body side and a cable is greater than a minimum distance between an outer surface of the link located at the end side of the link assembly and a cable. The method of claim 26,
In the link assembly, the minimum distance between the cable and the inner side of each link is the same holder. The method of claim 26,
The plurality of links are pivotally connected by pins penetrating two adjacent links. The method of claim 28,
The minimum distance between the pin and the cable is a holder closer toward the end side of the link assembly from the holder body. The method of claim 26,
A holder in which an elastic object connecting the plurality of links is mounted on the link assembly.

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